Refactor message write() call sites

.gitignore

@@ -4,6 +4,9 @@
 .idea
 xml/*
 
+# clangd language-server index (regenerable, per-developer)
+.cache/
+
 #CMake
 CMakeFiles/
 **/_VizFiles/

src/architecture/utilities/ukfUtilities.c

@@ -95,7 +95,7 @@ int32_t ukfUInv(double* sourceMat, int32_t nRow, int32_t nCol, double* destMat)
 
 int32_t ukfLUD(double* sourceMat, int32_t nRow, int32_t nCol, double* destMat, int32_t* indx) {
     double vv[UKF_MAX_DIM];
-    int32_t rowIndicator, i, j, k, imax;
+    int32_t i, j, k, imax;
     double big, dum, sum, temp;
     double TINY = 1.0E-14;
 
@@ -108,7 +108,6 @@ int32_t ukfLUD(double* sourceMat, int32_t nRow, int32_t nCol, double* destMat, i
     }
     mCopy(sourceMat, (size_t)nRow, (size_t)nCol, destMat);
     vSetZero(vv, (size_t)nRow);
-    rowIndicator = 1;
     for (i = 0; i < nRow; i++) {
         big = 0.0;
         for (j = 0; j < nRow; j++) {
@@ -148,7 +147,6 @@ int32_t ukfLUD(double* sourceMat, int32_t nRow, int32_t nCol, double* destMat, i
                 destMat[imax * nRow + k] = destMat[j * nRow + k];
                 destMat[j * nRow + k] = dum;
             }
-            rowIndicator += 1;
             vv[imax] = vv[j];
         }
         indx[j] = imax;

src/fswAlgorithms/attControl/lowPassFilterTorqueCommand/lowPassFilterTorqueCommand.cpp

@@ -100,7 +100,7 @@ void LowPassFilterTorqueCommand::updateState(uint64_t callTime) {
         store the output message
      */
     v3Copy(this->LrF[0], controlOut.torqueRequestBody);
-    this->cmdTorqueOutMsg.write(&controlOut, this->moduleID, callTime);
+    this->cmdTorqueOutMsg.write(controlOut, this->moduleID, callTime);
 
     return;
 }

src/fswAlgorithms/attControl/mrpFeedback/mrpFeedback.cpp

@@ -65,8 +65,8 @@ void MrpFeedback::updateState(uint64_t callTime) {
 
     MrpFeedbackOutput mrpFeedbackOutput = algorithm.update(callTime, guidCmd, wheelSpeeds, wheelsAvailability);
 
-    this->cmdTorqueOutMsg.write(&mrpFeedbackOutput.controlOut, moduleID, callTime);
-    this->intFeedbackTorqueOutMsg.write(&mrpFeedbackOutput.intFeedbackOut, this->moduleID, callTime);
+    this->cmdTorqueOutMsg.write(mrpFeedbackOutput.controlOut, moduleID, callTime);
+    this->intFeedbackTorqueOutMsg.write(mrpFeedbackOutput.intFeedbackOut, this->moduleID, callTime);
 }
 
 /*! Setter method for the gain K.

src/fswAlgorithms/attControl/mrpFeedback_C/mrpFeedback_C.cpp

@@ -172,11 +172,11 @@ void MrpFeedback_C::updateState(uint64_t callTime) {
 
     /*! - set the output message and write it out */
     v3Copy(Lr, controlOut.torqueRequestBody);
-    this->cmdTorqueOutMsg.write(&controlOut, moduleID, callTime);
+    this->cmdTorqueOutMsg.write(controlOut, moduleID, callTime);
 
     /*! - write the output integral feedback torque */
     v3Scale(-1.0, v3_5, intFeedbackOut.torqueRequestBody);
-    this->intFeedbackTorqueOutMsg.write(&intFeedbackOut, this->moduleID, callTime);
+    this->intFeedbackTorqueOutMsg.write(intFeedbackOut, this->moduleID, callTime);
 
     return;
 }

src/fswAlgorithms/attControl/mrpPD/mrpPD.cpp

@@ -35,7 +35,7 @@ void MrpPD::updateState(uint64_t callTime) {
     // Call the algorithm update method
     CmdTorqueBodyMsgPayload torqueCmdMsgPayload = this->algorithm.update(callTime, localGuidInMsg);
 
-    this->cmdTorqueOutMsg.write(&torqueCmdMsgPayload, moduleID, callTime);
+    this->cmdTorqueOutMsg.write(torqueCmdMsgPayload, moduleID, callTime);
 }
 
 /*! Setter method for the derivative gain P.

src/fswAlgorithms/attControl/mrpPD_C/mrpPD_C.cpp

@@ -76,7 +76,7 @@ void MrpPD_C::updateState(uint64_t callTime) {
 
     /*! - Store and write the output message */
     v3Copy(Lr, controlOutMsg.torqueRequestBody);
-    this->cmdTorqueOutMsg.write(&controlOutMsg, moduleID, callTime);
+    this->cmdTorqueOutMsg.write(controlOutMsg, moduleID, callTime);
 
     return;
 }

src/fswAlgorithms/attControl/mrpSteering/mrpSteering.cpp

@@ -27,7 +27,7 @@ void MrpSteering::updateState(uint64_t callTime) {
 
     RateCmdMsgPayload outMsg = this->algorithm.update(guidCmd);
 
-    this->rateCmdOutMsg.write(&outMsg, moduleID, callTime);
+    this->rateCmdOutMsg.write(outMsg, moduleID, callTime);
 }
 
 /*! Set the linear feedback gain K1

src/fswAlgorithms/attControl/mrpSteering_C/mrpSteering_C.cpp

@@ -44,7 +44,7 @@ void MrpSteering_C::updateState(uint64_t callTime) {
     MRPSteeringLaw(this, guidCmd.sigma_BR, outMsg.omega_BastR_B, outMsg.omegap_BastR_B);
 
     /*! - Store the output message and pass it to the message bus */
-    this->rateCmdOutMsg.write(&outMsg, moduleID, callTime);
+    this->rateCmdOutMsg.write(outMsg, moduleID, callTime);
 
     return;
 }

src/fswAlgorithms/attControl/mtbFeedforward/mtbFeedforward.cpp

@@ -64,5 +64,5 @@ void MtbFeedforward::updateState(uint64_t callTime) {
     v3Subtract(vehControlOutMsgBuffer.torqueRequestBody, tauMtbFF_B, vehControlOutMsgBuffer.torqueRequestBody);
 
     /*! - Write output message. This used as a feedforward term to the attiude controller.*/
-    this->vehControlOutMsg.write(&vehControlOutMsgBuffer, moduleID, callTime);
+    this->vehControlOutMsg.write(vehControlOutMsgBuffer, moduleID, callTime);
 }

src/fswAlgorithms/attControl/mtbMomentumManagement/mtbMomentumManagement.cpp

@@ -124,9 +124,9 @@ void MtbMomentumManagement::updateState(uint64_t callTime) {
     /*
      * Write output messages.
      */
-    this->mtbCmdOutMsg.write(&mtbCmdOutputMsgBuffer, moduleID, callTime);
+    this->mtbCmdOutMsg.write(mtbCmdOutputMsgBuffer, moduleID, callTime);
     vAdd(this->tauDesiredRW_W, numRW, rwMotorTorqueOutMsgBuffer.motorTorque, rwMotorTorqueOutMsgBuffer.motorTorque);
-    this->rwMotorTorqueOutMsg.write(&rwMotorTorqueOutMsgBuffer, moduleID, callTime);
+    this->rwMotorTorqueOutMsg.write(rwMotorTorqueOutMsgBuffer, moduleID, callTime);
 
     return;
 }

src/fswAlgorithms/attControl/mtbMomentumManagementSimple/mtbMomentumManagementSimple.cpp

@@ -74,5 +74,5 @@ void MtbMomentumManagementSimple::updateState(uint64_t callTime) {
     /*! - Write the output message. This is the torque we are requesting the torque bars to produce in the Body frame.
          Note that depending on the torque rod/magentic field geometry, torque rod saturation limts, unknown alignments,
          and imperfect sensor readings, this torque may not be perfectly produced.*/
-    this->tauMtbRequestOutMsg.write(&tauMtbRequestOutMsgBuffer, moduleID, callTime);
+    this->tauMtbRequestOutMsg.write(tauMtbRequestOutMsgBuffer, moduleID, callTime);
 }

src/fswAlgorithms/attControl/prvSteering/prvSteering.cpp

@@ -41,7 +41,7 @@ void PrvSteering::updateState(uint64_t callTime) {
     PRVSteeringLaw(this, guidCmd.sigma_BR, outMsgBuffer.omega_BastR_B, outMsgBuffer.omegap_BastR_B);
 
     /* Store the output message and pass it to the message bus */
-    this->rateCmdOutMsg.write(&outMsgBuffer, moduleID, callTime);
+    this->rateCmdOutMsg.write(outMsgBuffer, moduleID, callTime);
 
     return;
 }

src/fswAlgorithms/attControl/rateControl/rateControl.cpp

@@ -34,7 +34,7 @@ void RateControl::updateState(uint64_t callTime) {
         torqueCmdOut = this->algorithm.update(this->guidInMsg());
     }
 
-    this->cmdTorqueOutMsg.write(&torqueCmdOut, moduleID, callTime);
+    this->cmdTorqueOutMsg.write(torqueCmdOut, moduleID, callTime);
 }
 
 /*! Setter method for the derivative gain P.

src/fswAlgorithms/attControl/rateDamp/rateDamp.cpp

@@ -23,7 +23,7 @@ void RateDamp::updateState(uint64_t currentSimNanos) {
     // Call the algorithm update method
     CmdTorqueBodyMsgPayload cmdTorqueOutBuffer = this->algorithm.update(currentSimNanos, attNavInBuffer);
 
-    this->cmdTorqueOutMsg.write(&cmdTorqueOutBuffer, this->moduleID, currentSimNanos);
+    this->cmdTorqueOutMsg.write(cmdTorqueOutBuffer, this->moduleID, currentSimNanos);
 }
 
 /*! Set the module rate feedback gain

src/fswAlgorithms/attControl/rateServoFullNonlinear/rateServoFullNonlinear.cpp

@@ -69,7 +69,7 @@ void RateServoFullNonlinear::updateState(uint64_t callTime) {
 
     CmdTorqueBodyMsgPayload controlOut = algorithm.update(callTime, guidCmd, rateGuid, wheelSpeeds, wheelsAvailability);
 
-    this->cmdTorqueOutMsg.write(&controlOut, moduleID, callTime);
+    this->cmdTorqueOutMsg.write(controlOut, moduleID, callTime);
 }
 
 /*! Setter method for the gain P.

src/fswAlgorithms/attControl/rateServoFullNonlinear_C/rateServoFullNonlinear_C.cpp

@@ -173,7 +173,7 @@ void RateServoFullNonlinear_C::updateState(uint64_t callTime) {
 
     /*! - Set output message and pass it to the message bus */
     v3Copy(Lr, controlOut.torqueRequestBody);
-    this->cmdTorqueOutMsg.write(&controlOut, moduleID, callTime);
+    this->cmdTorqueOutMsg.write(controlOut, moduleID, callTime);
 
     return;
 }

src/fswAlgorithms/attControl/thrMomentumManagement/thrMomentumManagement.cpp

@@ -74,7 +74,7 @@ void ThrMomentumManagement::updateState(uint64_t callTime) {
         /*! - write out the output message */
         v3Copy(Delta_H_B, controlOutMsg.torqueRequestBody);
 
-        this->deltaHOutMsg.write(&controlOutMsg, moduleID, callTime);
+        this->deltaHOutMsg.write(controlOutMsg, moduleID, callTime);
     }
 
     return;

src/fswAlgorithms/attControl/thrMomentumManagementCpp/thrMomentumManagementCpp.cpp

@@ -45,5 +45,5 @@ void ThrMomentumManagementCpp::updateState(uint64_t currentSimNanos) {
 
     CmdTorqueBodyMsgPayload controlOutMsg{};
     eigenVectorToCArray(Delta_H_B, controlOutMsg.torqueRequestBody);
-    this->deltaHOutMsg.write(&controlOutMsg, this->moduleID, currentSimNanos);
+    this->deltaHOutMsg.write(controlOutMsg, this->moduleID, currentSimNanos);
 }

src/fswAlgorithms/attDetermination/CSSEst/cssWlsEst.cpp

@@ -147,7 +147,7 @@ void CssWlsEst::updateState(uint64_t callTime) {
         this->filtStatus.numObs = (int)this->numActiveCss;
         this->filtStatus.timeTag = (double)(callTime * NANO2SEC);
         v3Copy(sunlineOutBuffer.vehSunPntBdy, this->filtStatus.state);
-        this->cssWLSFiltResOutMsg.write(&this->filtStatus, this->moduleID, callTime);
+        this->cssWLSFiltResOutMsg.write(this->filtStatus, this->moduleID, callTime);
     }
     /*! Writing Outputs */
     if (status > 0) /*! - If the status from the WLS computation is erroneous, populate the output messages with zeros*/
@@ -158,7 +158,7 @@ void CssWlsEst::updateState(uint64_t callTime) {
         this->priorSignalAvailable = 0;           /* reset the prior heading estimate flag */
     }
     /*! - If the status from the WLS computation good, populate the output messages with the computed data*/
-    this->navStateOutMsg.write(&sunlineOutBuffer, this->moduleID, callTime);
+    this->navStateOutMsg.write(sunlineOutBuffer, this->moduleID, callTime);
     return;
 }
 

src/fswAlgorithms/attDetermination/InertialUKF/inertialUKF.cpp

@@ -241,13 +241,13 @@ void InertialUKF::updateState(uint64_t callTime) {
     v3Copy(this->omega_BN_BOut, outputInertial.omega_BN_B);
     outputInertial.timeTag = this->timeTagOut;
 
-    this->navStateOutMsg.write(&outputInertial, this->moduleID, callTime);
+    this->navStateOutMsg.write(outputInertial, this->moduleID, callTime);
 
     /*! - Populate the filter states output buffer and write the output message*/
     inertialDataOutBuffer.timeTag = this->timeTag;
     memmove(inertialDataOutBuffer.covar, this->covar, AKF_N_STATES * AKF_N_STATES * sizeof(double));
     memmove(inertialDataOutBuffer.state, this->state, AKF_N_STATES * sizeof(double));
-    this->filtDataOutMsg.write(&inertialDataOutBuffer, this->moduleID, callTime);
+    this->filtDataOutMsg.write(inertialDataOutBuffer, this->moduleID, callTime);
     this->rwSpeedPrev = this->rwSpeeds;
     return;
 }

src/fswAlgorithms/attDetermination/headingSuKF/headingSuKF.cpp

@@ -157,7 +157,7 @@ void HeadingSuKF::updateState(uint64_t callTime) {
     mCopy(this->covar, HEAD_N_STATES_SWITCH, HEAD_N_STATES_SWITCH, headingDataOutBuffer.covar);
     vCopy(states_BN, HEAD_N_STATES_SWITCH, headingDataOutBuffer.state);
     v3Copy(this->postFits, headingDataOutBuffer.postFitRes);
-    this->filtDataOutMsg.write(&headingDataOutBuffer, this->moduleID, callTime);
+    this->filtDataOutMsg.write(headingDataOutBuffer, this->moduleID, callTime);
 
     /*! - Write the heading estimate into the copy of the OpNav message structure*/
     opnavOutputBuffer.timeTag = this->timeTag;
@@ -174,7 +174,7 @@ void HeadingSuKF::updateState(uint64_t callTime) {
     }
     opnavOutputBuffer.valid = this->opnavInBuffer.valid;
     opnavOutputBuffer.timeTag = this->opnavInBuffer.timeTag;
-    this->opnavDataOutMsg.write(&opnavOutputBuffer, this->moduleID, callTime);
+    this->opnavDataOutMsg.write(opnavOutputBuffer, this->moduleID, callTime);
 
     return;
 }

src/fswAlgorithms/attDetermination/inertialAttitudeUkf/inertialAttitudeUkf.cpp

@@ -113,11 +113,11 @@ void InertialAttitudeUkf::writeOutputMessages(uint64_t currentSimNanos) {
             this->measurements[index].reset();
         }
     }
-    this->attitudeResidualMsg.write(&attitudePayload, this->moduleID, currentSimNanos);
-    this->rateResidualMsg.write(&ratePayload, this->moduleID, currentSimNanos);
+    this->attitudeResidualMsg.write(attitudePayload, this->moduleID, currentSimNanos);
+    this->rateResidualMsg.write(ratePayload, this->moduleID, currentSimNanos);
 
-    this->navAttitudeOutputMsg.write(&navAttPayload, this->moduleID, currentSimNanos);
-    this->inertialFilterOutputMsg.write(&filterPayload, this->moduleID, currentSimNanos);
+    this->navAttitudeOutputMsg.write(navAttPayload, this->moduleID, currentSimNanos);
+    this->inertialFilterOutputMsg.write(filterPayload, this->moduleID, currentSimNanos);
 }
 
 /*! Read current RW speends and populate the accelerations in order to propagate

src/fswAlgorithms/attDetermination/okeefeEKF/okeefeEKF.cpp

@@ -112,7 +112,7 @@ void OkeefeEKF::updateState(uint64_t callTime) {
     v3Copy(this->state, this->outputSunline.vehSunPntBdy);
     v3Normalize(this->outputSunline.vehSunPntBdy, this->outputSunline.vehSunPntBdy);
     this->outputSunline.timeTag = this->timeTag;
-    this->navStateOutMsg.write(&this->outputSunline, this->moduleID, callTime);
+    this->navStateOutMsg.write(this->outputSunline, this->moduleID, callTime);
 
     /*! - Populate the filter states output buffer and write the output message*/
     sunlineDataOutBuffer.timeTag = this->timeTag;
@@ -121,7 +121,7 @@ void OkeefeEKF::updateState(uint64_t callTime) {
     memmove(sunlineDataOutBuffer.state, this->state, SKF_N_STATES * sizeof(double));
     memmove(sunlineDataOutBuffer.stateError, this->x, SKF_N_STATES * sizeof(double));
     memmove(sunlineDataOutBuffer.postFitRes, this->postFits, MAX_N_CSS_MEAS * sizeof(double));
-    this->filtDataOutMsg.write(&sunlineDataOutBuffer, this->moduleID, callTime);
+    this->filtDataOutMsg.write(sunlineDataOutBuffer, this->moduleID, callTime);
 
     return;
 }

src/fswAlgorithms/attDetermination/sunlineEKF/sunlineEKF.cpp

@@ -111,7 +111,7 @@ void SunlineEKF::updateState(uint64_t callTime) {
     v3Copy(this->state, this->outputSunline.vehSunPntBdy);
     v3Normalize(this->outputSunline.vehSunPntBdy, this->outputSunline.vehSunPntBdy);
     this->outputSunline.timeTag = this->timeTag;
-    this->navStateOutMsg.write(&this->outputSunline, this->moduleID, callTime);
+    this->navStateOutMsg.write(this->outputSunline, this->moduleID, callTime);
 
     /*! - Populate the filter states output buffer and write the output message*/
     sunlineDataOutBuffer.timeTag = this->timeTag;
@@ -120,7 +120,7 @@ void SunlineEKF::updateState(uint64_t callTime) {
     memmove(sunlineDataOutBuffer.state, this->state, SKF_N_STATES * sizeof(double));
     memmove(sunlineDataOutBuffer.stateError, this->x, SKF_N_STATES * sizeof(double));
     memmove(sunlineDataOutBuffer.postFitRes, this->postFits, MAX_N_CSS_MEAS * sizeof(double));
-    this->filtDataOutMsg.write(&sunlineDataOutBuffer, this->moduleID, callTime);
+    this->filtDataOutMsg.write(sunlineDataOutBuffer, this->moduleID, callTime);
 
     return;
 }

src/fswAlgorithms/attDetermination/sunlineEphem/sunlineEphem.cpp

@@ -17,5 +17,5 @@ void SunlineEphem::updateState(uint64_t callTime) {
     NavTransMsgPayload scPos = this->scPositionInMsg();
     NavAttMsgPayload scAtt = this->scAttitudeInMsg();
     auto outputSunline = this->algorithm.updateState(sunPos, scPos, scAtt);
-    this->navStateOutMsg.write(&outputSunline, this->moduleID, callTime);
+    this->navStateOutMsg.write(outputSunline, this->moduleID, callTime);
 }

src/fswAlgorithms/attDetermination/sunlineSEKF/sunlineSEKF.cpp

@@ -129,7 +129,7 @@ void SunlineSEKF::updateState(uint64_t callTime) {
     v3Copy(this->state, this->outputSunline.vehSunPntBdy);
     v3Normalize(this->outputSunline.vehSunPntBdy, this->outputSunline.vehSunPntBdy);
     this->outputSunline.timeTag = this->timeTag;
-    this->navStateOutMsg.write(&this->outputSunline, this->moduleID, callTime);
+    this->navStateOutMsg.write(this->outputSunline, this->moduleID, callTime);
 
     /*! - Populate the filter states output buffer and write the output message*/
     sunlineDataOutBuffer.timeTag = this->timeTag;
@@ -138,7 +138,7 @@ void SunlineSEKF::updateState(uint64_t callTime) {
     memmove(sunlineDataOutBuffer.state, states_BN, EKF_N_STATES_SWITCH * sizeof(double));
     memmove(sunlineDataOutBuffer.stateError, this->x, SKF_N_STATES * sizeof(double));
     memmove(sunlineDataOutBuffer.postFitRes, this->postFits, MAX_N_CSS_MEAS * sizeof(double));
-    this->filtDataOutMsg.write(&sunlineDataOutBuffer, this->moduleID, callTime);
+    this->filtDataOutMsg.write(sunlineDataOutBuffer, this->moduleID, callTime);
 
     return;
 }

src/fswAlgorithms/attDetermination/sunlineSRuKF/sunlineSRuKF.cpp

@@ -89,10 +89,10 @@ void SunlineSRuKF::writeOutputMessages(uint64_t currentSimNanos) {
         i += 1;
     }
 
-    this->navAttOutMsg.write(&navAttOutMsgBuffer, this->moduleID, currentSimNanos);
-    this->filterOutMsg.write(&filterMsgBuffer, this->moduleID, currentSimNanos);
-    this->filterCssResOutMsg.write(&filterCssResMsgBuffer, this->moduleID, currentSimNanos);
-    this->filterGyroResOutMsg.write(&filterGyroResMsgBuffer, this->moduleID, currentSimNanos);
+    this->navAttOutMsg.write(navAttOutMsgBuffer, this->moduleID, currentSimNanos);
+    this->filterOutMsg.write(filterMsgBuffer, this->moduleID, currentSimNanos);
+    this->filterCssResOutMsg.write(filterCssResMsgBuffer, this->moduleID, currentSimNanos);
+    this->filterGyroResOutMsg.write(filterGyroResMsgBuffer, this->moduleID, currentSimNanos);
 }
 
 /*! Read the rate gyro input message

src/fswAlgorithms/attDetermination/sunlineSRuKFTemplated/sunlineSRuKFTemplated.cpp

@@ -127,10 +127,10 @@ void SunlineSRuKFTemplated::writeOutputMessages(uint64_t currentSimNanos) {
     //        i += 1;
     //    }
     //
-    //    this->navAttOutMsg.write(&navAttOutMsgBuffer, this->moduleID, currentSimNanos);
-    //    this->filterOutMsg.write(&filterMsgBuffer, this->moduleID, currentSimNanos);
-    //    this->filterCssResOutMsg.write(&filterCssResMsgBuffer, this->moduleID, currentSimNanos);
-    //    this->filterGyroResOutMsg.write(&filterGyroResMsgBuffer, this->moduleID, currentSimNanos);
+    //    this->navAttOutMsg.write(navAttOutMsgBuffer, this->moduleID, currentSimNanos);
+    //    this->filterOutMsg.write(filterMsgBuffer, this->moduleID, currentSimNanos);
+    //    this->filterCssResOutMsg.write(filterCssResMsgBuffer, this->moduleID, currentSimNanos);
+    //    this->filterGyroResOutMsg.write(filterGyroResMsgBuffer, this->moduleID, currentSimNanos);
 }
 
 /*! Read the rate gyro input message

src/fswAlgorithms/attDetermination/sunlineSuKF/sunlineSuKF.cpp

@@ -193,7 +193,7 @@ void SunlineSuKF::updateState(uint64_t callTime) {
     v3Copy(this->state, this->outputSunline.vehSunPntBdy);
     v3Normalize(this->outputSunline.vehSunPntBdy, this->outputSunline.vehSunPntBdy);
     this->outputSunline.timeTag = this->timeTag;
-    this->navStateOutMsg.write(&this->outputSunline, this->moduleID, callTime);
+    this->navStateOutMsg.write(this->outputSunline, this->moduleID, callTime);
 
     /*! - Switch the rates back to omega_BN instead of omega_SB */
     vCopy(this->state, SKF_N_STATES_SWITCH, states_BN);
@@ -208,7 +208,7 @@ void SunlineSuKF::updateState(uint64_t callTime) {
     memmove(sunlineDataOutBuffer.covar, this->covar, SKF_N_STATES_SWITCH * SKF_N_STATES_SWITCH * sizeof(double));
     memmove(sunlineDataOutBuffer.state, states_BN, SKF_N_STATES_SWITCH * sizeof(double));
     memmove(sunlineDataOutBuffer.postFitRes, this->postFits, MAX_N_CSS_MEAS * sizeof(double));
-    this->filtDataOutMsg.write(&sunlineDataOutBuffer, this->moduleID, callTime);
+    this->filtDataOutMsg.write(sunlineDataOutBuffer, this->moduleID, callTime);
 
     return;
 }

src/fswAlgorithms/attDetermination/sunlineUKF/sunlineUKF.cpp

@@ -142,15 +142,15 @@ void SunlineUKF::updateState(uint64_t callTime) {
     v3Copy(this->state, this->outputSunline.vehSunPntBdy);
     v3Normalize(this->outputSunline.vehSunPntBdy, this->outputSunline.vehSunPntBdy);
     this->outputSunline.timeTag = this->timeTag;
-    this->navStateOutMsg.write(&this->outputSunline, this->moduleID, callTime);
+    this->navStateOutMsg.write(this->outputSunline, this->moduleID, callTime);
 
     /*! - Populate the filter states output buffer and write the output message*/
     sunlineDataOutBuffer.timeTag = this->timeTag;
     sunlineDataOutBuffer.numObs = this->numObs;
     memmove(sunlineDataOutBuffer.covar, this->covar, SKF_N_STATES * SKF_N_STATES * sizeof(double));
     memmove(sunlineDataOutBuffer.state, this->state, SKF_N_STATES * sizeof(double));
     memmove(sunlineDataOutBuffer.postFitRes, this->postFits, MAX_N_CSS_MEAS * sizeof(double));
-    this->filtDataOutMsg.write(&sunlineDataOutBuffer, this->moduleID, callTime);
+    this->filtDataOutMsg.write(sunlineDataOutBuffer, this->moduleID, callTime);
 
     return;
 }

src/fswAlgorithms/attGuidance/attRefCorrection/attRefCorrection.cpp

@@ -35,7 +35,7 @@ void AttRefCorrection::updateState(uint64_t const callTime) {
 
     // write to the output messages
     eigenVectorToCArray(sigma_RN_local, attRefMsgBuffer.sigma_RN);
-    this->attRefOutMsg.write(&attRefMsgBuffer, this->moduleID, callTime);
+    this->attRefOutMsg.write(attRefMsgBuffer, this->moduleID, callTime);
 }
 
 /*! Setter method for the current MRP attitude coordinate set with respect to the input reference